Flexible crawler-type magnetic adsorption mechanism for wall-climbing robot

Abstract

The invention discloses a flexible crawler-type magnetic adsorption mechanism for a wall-climbing robot. The mechanism comprises a rack and a flexible crawler belt, the rack as a magnetic adsorption mechanism connecting skeleton is assembled and connected with a wall-climbing robot body, the flexible crawler belt is engaged and driven with belt wheels arranged on the rack, and the belt wheels on the rack are symmetrically mounted relative to the rack. A gap is formed between every two symmetrical belt wheels, magnetic adsorption areas are correspondingly arranged in the inner side of the flexible crawler belt at intervals, a plurality of circles of magnet packaging chains arranged at intervals are arranged in the magnetic adsorption areas, and each circle of magnet packaging chain comprises a plurality of magnet packages distributed in the circumferential direction of the flexible crawler belt; and each magnet package comprises a package shell fixedly connected with the flexible crawler belt and a magnet unit arranged in the package shell. The flexible crawler-type magnetic adsorption mechanism for the wall-climbing robot is high in reliability.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a flexible crawler-type magnetic adsorption mechanism for wall-climbing robots. Background technique [0002] The magnetic adsorption wall climbing robot is a special operation robot, which is mostly used in dangerous, polluted, complex, narrow and other magnetically permeable wall environments to complete specific operations such as surface monitoring, surface welding, surface coating, fault diagnosis, grinding and rust removal. At present, magnetic adsorption wall-climbing robots have been widely used in ferromagnetic structures such as nuclear industry, petrochemical industry, construction industry, fire department, and shipbuilding industry. The magnetic adsorption mechanism is the core component of this type of wall-climbing robot, and its structural form directly determines the robot's wall-climbing environment adaptability and climbing reliability. [0003] I...

AI Technical Summary

Problems solved by technology

[0003] In the patent "Magnetic Adsorption and Drive Integrated Module of Magnetic Adsorption Wall Climbing Robot" (authorization number: CN106364583B), the magnetic adsorption and drive parts are modularized, and the installation shaft can be used for free assembly, but the magnetic adsorption unit is arranged on the rotation shaft , a lot of space on the belt is not used, so the load capacity of the robot is not high; The track is composed of steel structures such as chains, adsorption track components, and guide components. The structure is complex and the weight is heavy. Linked track components have high rigidity and are not easy to fit the wall, which affects the ability to overcome obstacles.

[0004] The magnetic adsorption mechanism of the existing wall-climbing robot is usually composed of a chain plate driven by a chain and a track shoe embedded with a magnetic adsorption unit. The structure is complex and heavy. The connection scheme of the magnetic adsorption unit is cumbersome, so it is difficult to manufacture and maintain, and the reliability is reduced. At the same time, when encountering obstacles, the track shoe structure is relatively rigid and difficult to fit the wall, which affects the ability to overcome obstacles.

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